Electronic control system for electric refuse vehicle

ABSTRACT

A refuse vehicle including a chassis, a body assembly coupled to the chassis, the body assembly defining a refuse compartment, an electric energy system configured to store power and supply power to the refuse vehicle, and a power control system configured to measure one or more electrical attributes of the refuse vehicle and determine a power profile for the refuse vehicle, the power profile describing a length of time the refuse vehicle can continue to operate based on a remaining power of the electrical energy system, and wherein the power control system controls operation of a lift assembly of the refuse vehicle based on the power profile.

CROSS-REFERENCE TO RELATED PATENT APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 16/851,157, filed Apr. 17, 2020, which claims the benefit ofand priority to U.S. Provisional Patent Application No. 62/843,295,filed on May 3, 2019, the contents of which are hereby incorporated byreference in their entirety.

BACKGROUND

Refuse vehicles collect a wide variety of waste, trash, and othermaterial from residences and businesses. Operators of the refusevehicles transport the material from various waste receptacles within amunicipality to a storage or processing facility (e.g., a landfill, anincineration facility, a recycling facility, etc.).

SUMMARY

One embodiment relates to a refuse vehicle including a chassis, a bodyassembly coupled to the chassis, the body assembly defining a refusecompartment, an electric energy system configured to store power andsupply power to the refuse vehicle, and a power control systemconfigured to measure one or more electrical attributes of the refusevehicle and determine a power profile for the refuse vehicle, the powerprofile describing a length of time the refuse vehicle can continue tooperate based on a remaining power of the electrical energy system, andwherein the power control system controls operation of a lift assemblyof the refuse vehicle based on the power profile.

In some embodiments, the power control system determines an amount ofpower required to return the refuse vehicle to a charging location andperforms an operation using the remaining power and the amount of powerrequired to return the refuse vehicle to the charging location todetermine a result and alerts a user based on the result. In someembodiments, the power control system is further configured to determinea weight of contents associated with the refuse compartment based onelectrical attributes associated with the lift assembly. In someembodiments, determining the power profile includes moving a receptaclefrom a first position to a second position, measuring a first electricalparameter associated with the first movement, emptying the receptacle,moving the receptacle from the first position to the second position,and measuring a second electrical parameter associated with the secondmovement. In some embodiments, determining the power profile furtherincludes calculating a weight associated with the receptacle based onthe first and second electrical parameters. In some embodiments, thepower profile describes a distance that the refuse vehicle can traversebased on the remaining power of the electrical energy system. In someembodiments, the power control system is configured to disable the liftassembly based on the power profile.

Another embodiment relates to a power control system for a refusevehicle including a processing circuit including a processor and memory,the memory having instructions stored thereon that, when executed by theprocessor, cause the processing circuit to measure one or more firstelectrical parameters associated with an operation of the refusevehicle, measure one or more second electrical parameters associatedwith an energy storage system associated with the refuse vehicle,generate an operational parameter associated with an amount of powerrequired to perform the operation based on the one or more firstelectrical parameters and the one or more second electrical parameters,determine a power profile for the refuse vehicle, wherein the powerprofile describes a length of time the refuse vehicle can continue tooperate based on the operational parameter, and transmit a controlsignal to the refuse vehicle based on the power profile.

In some embodiments, the power control system is further configured tomeasure an amount of remaining power associated with the energy storagesystem, determine an amount of power required to return the refusevehicle to a charging location, perform an operation using the remainingpower and the amount of power required to return the refuse vehicle tothe charging location, determine, based on the operation, a result, andalert a user based on the result. In some embodiments, the power profiledescribes a distance that the refuse vehicle can traverse based on theamount of remaining power associated with the energy storage system. Insome embodiments, the power control system is further configured todetermine a weight of contents associated with a refuse compartment ofthe refuse vehicle based on the one or more first electrical parameters.In some embodiments, measuring the one or more first electricalparameters associated with the operation of the refuse vehicle includesmoving a receptacle from a first position to a second position,measuring a first electrical parameter associated with the firstmovement, emptying the receptacle, moving the receptacle from the firstposition to the second position, and measuring a second electricalparameter associated with the second movement. In some embodiments,generating the operational parameter includes calculating a weightassociated with the receptacle based on the first and second electricalparameters. In some embodiments, the power control system is configuredto disable a lift assembly of the refuse vehicle based on the powerprofile. In some embodiments, the power control system is furtherconfigured to monitor a power consumption of the refuse vehicle andcause the energy storage system to store an amount of energy required tounload the refuse vehicle. In some embodiments, the power control systemis further configured to transmit the power profile to an external fleetmanagement system.

Another embodiment relates to a method of determining a power profilefor a refuse vehicle including moving a receptacle from a first positionto a second position, measuring a first electrical parameter associatedwith the first movement, emptying the receptacle, moving the receptaclefrom the first position to the second position, measuring a secondelectrical parameter associated with the second movement, measuring anamount of remaining power associated with an energy storage system ofthe refuse vehicle, and generate a power profile describing an amount oftime the refuse vehicle can continue to operate based on the amount ofremaining power and the first and second electrical parameters.

In some embodiments, the power profile further describes a distance thatthe refuse vehicle can traverse based on the amount of remaining power.In some embodiments, the method includes controlling an operation of therefuse vehicle based on the power profile. In some embodiments, thepower profile is further generated based on one or more physicalparameters associated with the refuse vehicle. In some embodiments, themethod further includes determining a weight associated with contents ofthe receptacle and generating the power profile based on the weight. Insome embodiments, the power profile further includes an indication of anamount of power required to return the refuse vehicle to a charginglocation.

This summary is illustrative only and is not intended to be in any waylimiting. Other aspects, inventive features, and advantages of thedevices or processes described herein will become apparent in thedetailed description set forth herein, taken in conjunction with theaccompanying figures, wherein like reference numerals refer to likeelements.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of a refuse vehicle, according to anexemplary embodiment.

FIG. 2 is a block diagram of an electronic control system of the refusevehicle of FIG. 1, according to an exemplary embodiment.

FIG. 3 is a block diagram of a process of the electronic control systemof FIG. 2 for determining a weight of a refuse receptacle, according toan exemplary embodiment.

FIG. 4 is a block diagram of a process of the electronic control systemof FIG. 2 for determining a clearance of a refuse vehicle, according toan exemplary embodiment.

FIG. 5 is a block diagram of a process of the electronic control systemof FIG. 2 for determining a power profile of a refuse vehicle, accordingto an exemplary embodiment.

DETAILED DESCRIPTION

Before turning to the figures, which illustrate certain exemplaryembodiments in detail, it should be understood that the presentdisclosure is not limited to the details or methodology set forth in thedescription or illustrated in the figures. It should also be understoodthat the terminology used herein is for the purpose of description onlyand should not be regarded as limiting.

According to an exemplary embodiment, an electronic control system for arefuse vehicle is disclosed herein. The electronic control system of thepresent disclosure provides many advantages over conventional systems.The electronic control system may include sensors to measure one or moreattributes of the refuse vehicle and/or components of the refusevehicle. Sensor signals may be used to measure the performance of therefuse vehicle and optimize one or more functions of the refuse vehiclebased on the measurements. The electronic control system may measure thepower consumed by the components of the refuse vehicle and compare themeasured power to a remaining power level of one or more power sourcesof the refuse vehicle to determine the period of operation remainingbefore the refuse vehicle is required to replenish (e.g, charge, refuel,etc.) the one or more power sources. Determining a remaining period ofoperation reduces a risk of running out of power during operation.Furthermore, the electronic control system may measure the weight ofrefuse receptacles to determine the remaining capacity of the refusevehicle and/or to calculate the energy consumption of the refusevehicle. Additionally or alternatively, the electronic control systemmay measure one or more spatial features of the refuse vehicle todetermine a clearance of the refuse vehicle. A calculated clearance ofthe refuse vehicle may be displayed to the operator to inform operationof the refuse vehicle.

Overall Vehicle

As shown in FIG. 1, a vehicle, shown as refuse vehicle 10 (e.g., agarbage truck, a waste collection truck, a sanitation truck, a recyclingtruck, etc.), is configured as a front-loading refuse truck. In otherembodiments, the refuse vehicle 10 is configured as a side-loadingrefuse truck or a rear-loading refuse truck. In still other embodiments,the vehicle is another type of vehicle (e.g., a skid-loader, atelehandler, a plow truck, a boom lift, etc.). As shown in FIG. 1, therefuse vehicle 10 includes a chassis, shown as frame 12; a bodyassembly, shown as body 14, coupled to the frame 12 (e.g., at a rear endthereof, etc.); and a cab, shown as cab 16, coupled to the frame 12(e.g., at a front end thereof, etc.). The cab 16 may include variouscomponents to facilitate operation of the refuse vehicle 10 by anoperator (e.g., a seat, a steering wheel, actuator controls, a userinterface, switches, buttons, dials, etc.).

As shown in FIG. 1, the refuse vehicle 10 includes a prime mover, shownas electric motor 18, and an energy system, shown as energy storageand/or generation system 20. In other embodiments, the prime mover is orincludes an internal combustion engine. According to the exemplaryembodiment shown in FIG. 1, the electric motor 18 is coupled to theframe 12 at a position beneath the cab 16. The electric motor 18 isconfigured to provide power to a plurality of tractive elements, shownas wheels 22 (e.g., via a drive shaft, axles, etc.). In otherembodiments, the electric motor 18 is otherwise positioned and/or therefuse vehicle 10 includes a plurality of electric motors to facilitateindependently driving one or more of the wheels 22. In still otherembodiments, the electric motor 18 or a secondary electric motor iscoupled to and configured to drive a hydraulic system that powershydraulic actuators. According to the exemplary embodiment shown in FIG.1, the energy storage and/or generation system 20 is coupled to theframe 12 beneath the body 14. In other embodiments, the energy storageand/or generation system 20 is otherwise positioned (e.g., within atailgate of the refuse vehicle 10, beneath the cab 16, along the top ofthe body 14, within the body 14, etc.).

According to an exemplary embodiment, the energy storage and/orgeneration system 20 is configured to (a) receive, generate, and/orstore power and (b) provide electric power to (i) the electric motor 18to drive the wheels 22, (ii) electric actuators of the refuse vehicle 10to facilitate operation thereof (e.g., lift actuators, tailgateactuators, packer actuators, grabber actuators, etc.), and/or (iii)other electrically operated accessories of the refuse vehicle 10 (e.g.,displays, lights, etc.). The energy storage and/or generation system 20may include one or more rechargeable batteries (e.g., lithium-ionbatteries, nickel-metal hydride batteries, lithium-ion polymerbatteries, lead-acid batteries, nickel-cadmium batteries, etc.),capacitors, solar cells, generators, power buses, etc. In oneembodiment, the refuse vehicle 10 is a completely electric refusevehicle. In other embodiments, the refuse vehicle 10 includes aninternal combustion generator that utilizes one or more fuels (e.g.,gasoline, diesel, propane, natural gas, hydrogen, etc.) to generateelectricity to charge the energy storage and/or generation system 20,power the electric motor 18, power the electric actuators, and/or powerthe other electrically operated accessories (e.g., a hybrid refusevehicle, etc.). For example, the refuse vehicle 10 may have an internalcombustion engine augmented by the electric motor 18 to cooperativelyprovide power to the wheels 22. The energy storage and/or generationsystem 20 may thereby be charged via an on-board generator (e.g., aninternal combustion generator, a solar panel system, etc.), from anexternal power source (e.g., overhead power lines, mains power sourcethrough a charging input, etc.), and/or via a power regenerative brakingsystem, and provide power to the electrically operated systems of therefuse vehicle 10. In some embodiments, the energy storage and/orgeneration system 20 includes a heat management system (e.g., liquidcooling, heat exchanger, air cooling, etc.).

According to an exemplary embodiment, the refuse vehicle 10 isconfigured to transport refuse from various waste receptacles within amunicipality to a storage and/or processing facility (e.g., a landfill,an incineration facility, a recycling facility, etc.). As shown in FIG.1, the body 14 includes a plurality of panels, shown as panels 32, atailgate 34, and a cover 36. The panels 32, the tailgate 34, and thecover 36 define a collection chamber (e.g., hopper, etc.), shown asrefuse compartment 30. Loose refuse may be placed into the refusecompartment 30 where it may thereafter be compacted (e.g., by a packersystem, etc.). The refuse compartment 30 may provide temporary storagefor refuse during transport to a waste disposal site and/or a recyclingfacility. In some embodiments, at least a portion of the body 14 and therefuse compartment 30 extend above or in front of the cab 16. Accordingto the embodiment shown in FIG. 1, the body 14 and the refusecompartment 30 are positioned behind the cab 16. In some embodiments,the refuse compartment 30 includes a hopper volume and a storage volume.Refuse may be initially loaded into the hopper volume and thereaftercompacted into the storage volume. According to an exemplary embodiment,the hopper volume is positioned between the storage volume and the cab16 (e.g., refuse is loaded into a position of the refuse compartment 30behind the cab 16 and stored in a position further toward the rear ofthe refuse compartment 30, a front-loading refuse vehicle, aside-loading refuse vehicle, etc.). In other embodiments, the storagevolume is positioned between the hopper volume and the cab 16 (e.g., arear-loading refuse vehicle, etc.).

As shown in FIG. 1, the refuse vehicle 10 includes a liftmechanism/system (e.g., a front-loading lift assembly, etc.), shown aslift assembly 40, coupled to the front end of the body 14. In otherembodiments, the lift assembly 40 extends rearward of the body 14 (e.g.,a rear-loading refuse vehicle, etc.). In still other embodiments, thelift assembly 40 extends from a side of the body 14 (e.g., aside-loading refuse vehicle, etc.). As shown in FIG. 1, the liftassembly 40 is configured to engage a container (e.g., a residentialtrash receptacle, a commercial trash receptacle, a container having arobotic grabber arm, etc.), shown as refuse container 60. The liftassembly 40 may include various actuators (e.g., electric actuators,hydraulic actuators, pneumatic actuators, etc.) to facilitate engagingthe refuse container 60, lifting the refuse container 60, and tippingrefuse out of the refuse container 60 into the hopper volume of therefuse compartment 30 through an opening in the cover 36 or through thetailgate 34. The lift assembly 40 may thereafter return the empty refusecontainer 60 to the ground. According to an exemplary embodiment, adoor, shown as top door 38, is movably coupled along the cover 36 toseal the opening thereby preventing refuse from escaping the refusecompartment 30 (e.g., due to wind, bumps in the road, etc.).

Electronic Control System

Referring now to FIG. 2, an electronic control system 1500 is shown,according to an exemplary embodiment. The electronic control system 1500may be integrated with, or coupled to, the refuse vehicle 10. Theelectronic control system 1500 may receive one or more inputs from therefuse vehicle 10 and control operation of the refuse vehicle or refusevehicle components based on the one or more inputs. In some embodiments,the electronic control system 1500 is integrated into one or moreexisting control system of the refuse vehicle 10 and in otherembodiments the electronic control system 1500 is a standalone system.The electronic control system 1500 includes a processor 1502, memory1504, input/output(s) 1506, and sensors 1508. In some embodiments, theelectronic control system 1500 presents information to an operator ofthe refuse vehicle 10 via a display 1540. In some embodiments, thedisplay 1540 includes an input device (e.g., touchscreen, keyboard,etc.) to allow the operator to interact with the electronic controlsystem 1500. The display 1540 may be a cathode ray tube display (CRT), alight-emitting diode display (LED), an electroluminescent display (ELD),an electronic paper display, a plasma display, a liquid crystal display(LCD), an organic light-emitting diode display (OLED), or any otherdisplay or combination thereof known in the art.

The processor 1502 may be coupled to the memory 1504. The processor 1502can be a general purpose or specific purpose processor, an applicationspecific integrated circuit (ASIC), one or more field programmable gatearrays (FPGAs), a group of processing components, or other suitableprocessing components. The processor 1502 is configured to executecomputer code or instructions stored in the memory 1504 or received fromother computer readable media (e.g., CDROM, network storage, a remoteserver, etc.).

The memory 1504 can include one or more devices (e.g., memory units,memory devices, storage devices, etc.) for storing data and/or computercode for completing and/or facilitating the various processes describedin the present disclosure. The memory 1504 can include random accessmemory (RAM), read-only memory (ROM), hard drive storage, temporarystorage, non-volatile memory, flash memory, optical memory, or any othersuitable memory for storing software objects and/or computerinstructions. The memory 1504 can include database components, objectcode components, script components, or any other type of informationstructure for supporting the various activities and informationstructures described in the present disclosure. The memory 1504 can becommunicably connected to the processor 1502 via a processing circuitand can include computer code for executing (e.g., by the processor1502) one or more processes described herein. In various embodiments,memory 1504 includes weight circuit 1510, clearance circuit 1520, andpower conservation circuit 1530.

In some embodiments, the input/outputs 1506 receive one or more signalsfrom the refuse vehicle 10, or sub-systems thereof, and sends one ormore signals to the refuse vehicle 10, or sub-systems thereof. In someembodiments, the input/outputs 1506 are used to control one or morecomponents of the refuse vehicle 10. For example, the electronic controlsystem 1500 may control the lift assembly 40 of the refuse vehicle 10via the input/outputs 1506.

In some embodiments, the electronic control system 1500 receivesinformation from the sensors 1508 and determines an operation of therefuse vehicle 10 or one or more components (e.g., lift assembly 40) ofthe refuse vehicle corresponding to the information received. In someembodiments, sensors 1508 are any of a current measuring device (e.g.,an ammeter), a voltage-measuring device (e.g., a voltmeter, multimeter,etc.), a weight sensor, a temperature sensor, a position sensor, acamera, etc., or any other sensor or equipment. In some embodiments, thesensors 1508 are more than one sensor and/or more than one equipment.For example, the electronic control system 1500 receives informationfrom multiple current measuring devices (e.g., an ammeter), according tosome embodiments. In some embodiments, the sensors 1508 are a singlesensor.

The weight circuit 1510 receives one more signals from sensors 1508 todetermine a weight of a refuse receptacle. The weight circuit 1510 maydetermine the weight of a residential trash receptacle, a commercialtrash receptacle, and/or any other receptacle configured to be engagedby a member (e.g., the lift assembly 40, a robotic arm, a side loadingrefuse arm, etc.) of the refuse vehicle 10. The weight circuit 1510 maydisplay the measured weight to an operator of the refuse vehicle 10 viathe display 1540. Additionally or alternatively, the weight circuit 1510may save the measured weight in the memory 1504 for later use. In someembodiments, the weight circuit 1510 determines if a component (e.g.,the lift assembly 40) of the refuse vehicle 10 is overloaded andprevents damaging operation of the component.

The weight circuit 1510 determines a weight of a refuse receptacle basedon one or more electrical measurements associated with the operation ofone or more components of a lifting assembly (e.g., the lift assembly40, a robotic arm, a side loading refuse arm, etc.) of the refusevehicle 10. For example, the weight circuit 1510 may measure theelectrical current draw of an electrical actuator driving the liftassembly 40 as the lift assembly 40 lifts a refuse receptacle anddetermine a weight of the refuse receptacle based on the electricalcurrent draw of the electrical actuator. A process of the weight circuit1510 determining a refuse receptacle weight is shown in detail withreference to FIG. 3.

The clearance circuit 1520 determines a clearance of the refuse vehicle10 based on one or more signals from the sensors 1508. In someembodiments, the one or more signal values are associated with aposition (e.g., an angle) of the refuse vehicle 10 and/or a position ofa component (e.g., the lift assembly 40) of the refuse vehicle 10. Theclearance circuit 1520 may display the instantaneous clearance of therefuse vehicle 10 to an operator via the display 1540. In someembodiments, the clearance circuit 1520 compares a clearance of therefuse vehicle 10 to a threshold clearance and alerts the operator ifthe refuse vehicle 10 clearance exceed the threshold clearance. Forexample, the clearance circuit 1520 may display, via the display 1540, agreen color when the refuse vehicle 10 is below a threshold clearance, ayellow color when the refuse vehicle 10 is at or near a thresholdclearance, and a red color when the refuse vehicle 10 has exceeded athreshold clearance. In some embodiments, the clearance circuit 1520determines an allowable clearance and adjusts operation of the refusevehicle 10 or components thereof (e.g., the lift assembly 40) to preventexceeding the allowable clearance. For example, the clearance circuit1520 may measure the distance to an overhead obstruction via a proximitysensor and prevent the lift assembly 40 from contacting the overheadobstruction.

In some embodiments, the clearance circuit 1520 determines a verticalclearance of the refuse vehicle 10. Additionally or alternatively, theclearance circuit 1520 may determine a horizontal clearance of therefuse vehicle 10. In some embodiments, the clearance circuit 1520 mayinclude object recognition to determine nearby objects that are refusereceptacles and prevent a robotic arm of the refuse vehicle 10 fromcontacting nearby objects that are not classified as being a refusereceptacle. A process of the clearance circuit 1520 determining aclearance of the refuse vehicle 10 is described in detail with referenceto FIG. 4.

The power conservation circuit 1530 receives one or more sensor signalsto determine a power profile of the refuse vehicle 10 and control one ormore components of the refuse vehicle 10 based on the power profile. Thepower conservation circuit 1530 may receive electrical measurements fromone or more components (e.g., the lift assembly 40, the energy storageand/or generation system 20, etc.) of the refuse vehicle 10. Forexample, the power conservation circuit 1530 may receive the amount ofelectrical power required to operate the lift assembly 40 and compare itto the amount of remaining charge in the battery assembly 20. The powerconservation circuit 1530 may display the instantaneous power consumedby the refuse vehicle 10 to an operator via the display 1540.Additionally or alternatively, the power conservation circuit 1530 maycalculate a remaining operation time of the refuse vehicle 10 based on acurrent power consumption level and a remaining amount of power presentin one or more power storage units of the refuse vehicle 10. In someembodiments, the power conservation circuit 1530 may alter operation ofthe refuse vehicle 10 to conserve power. In some embodiments, the powerconservation circuit 1530 may calculate a required amount of power toreturn the refuse vehicle 10 to a charging location and alert theoperator when the refuse vehicle 10 needs to return to a charginglocation. A process of the power conservation circuit 1530 determining aremaining power level for the refuse vehicle 10 is described in detailwith reference to FIG. 5.

Referring now to FIG. 3, a process 1551 to determine a weight of arefuse receptacle is shown, according to an exemplary embodiment. Theweight circuit 1510 may perform the process 1551. The process 1551 isdescribed in reference to the lift assembly 40, however it should beunderstood that the process 1551 applies to any other lifting assembly(e.g., a robotic arm, a side loading refuse arm, etc.) of a refusevehicle. Furthermore, although the process 1551 is described inreference to a refuse receptacle, it should be understood that theprocess 1551 applies to any object capable of being lifted by a liftingassembly of a refuse vehicle. At step 1550, the lift assembly 40 moves arefuse receptacle from a first position to a second position. In someembodiments, the second position is at a greater vertical height thanthe first position. At step 1552, the weight circuit 1510 measures, viasensors 1508, an electrical current draw of an electrical actuator ofthe lift assembly 40 resulting from moving the refuse receptacle fromthe first position to the second position. In some embodiments, theweight circuit 1510 measure an electrical current draw of a differentcomponent (e.g., an electric motor, etc.) of the lift assembly 40. Atstep 1554, the refuse receptacle is emptied. In some embodiments, thelift assembly 40 empties the refuse receptacle. At step 1556, the liftassembly moves the emptied refuse receptacle from the first position tothe second position. At step 1558, the weight circuit 1510 measures anelectrical current draw of an electrical actuator of the lift assembly40 resulting from moving the emptied refuse receptacle from the firstposition to the second position. At step 1560, the weight circuit 1510calculates a weight of the refuse receptacle based on the first andsecond measurements. For example, the weight circuit 1510 may use themeasured current draw to determine a force exerted by the electricalactuator based on a look-up table of the electrical actuator and comparea difference in first force and the second force to determine a weightof the refuse receptacle. At step 1562, the weight circuit 1510 displaysthe calculated weight to the operator. In some embodiments, the weightcircuit 1510 stores the calculate weight in memory 1504.

Referring now to FIG. 4, a process 1571 to determine a clearance of therefuse vehicle 10 is shown, according to an exemplary embodiment. Theprocess 1571 is described in reference to the lift assembly 40, howeverit should be understood that the process 1571 applies to any otherlifting assembly (e.g., a robotic arm, a side loading refuse arm, etc.)of a refuse vehicle. Furthermore, although the process 1571 is describedin reference to a vertical height clearance, it should be understoodthat the process 1571 applies to any other clearance including ahorizontal clearance and/or a clearance of a side-loading lift assembly.At step 1570, the clearance circuit 1520 receives an arm profile for thelift assembly 40. The arm profile includes information relating to thecurrent position of the lift assembly 40. For example, the arm profilemay include a height, an orientation, an extension, or any otherpositional metric corresponding to the lift assembly 40. In someembodiments, the sensors 1508 provide the arm profile. Additionally oralternatively, the clearance circuit 1520 may receive the arm profilefrom one or more electric actuators or motors controlling the liftassembly 40 via input/outputs 1506. At step 1572, the clearance circuit1520 receives an angle of the refuse vehicle 10. In some embodiments,the angle is received via a positional angle sensor of the sensors 1508.

At step 1574, the clearance circuit 1520 calculates a height of therefuse vehicle 10. The height may be calculated based on a geometryand/or positioning of the lift assembly 40 and an angle of the refusevehicle 10. For example, if the refuse vehicle 10 is positioned facingdownhill, then the clearance circuit 1520 may account for the relativelylower height of the lift assembly 40 at the front of the refuse vehicle10 compared to the rear end of the refuse vehicle 10. In someembodiments, step 1574 accounts for a suspension height of the refusevehicle 10. At step 1576, the clearance circuit 1520 compares thecalculated height to a threshold value. In some embodiments, thethreshold value is determined by an operator. In some embodiments, thethreshold value is static (e.g., determined in software). Additionallyor alternatively, the threshold value may be determined based on aproximity sensor of the sensors 1508. For example, the clearance circuit1508 may measure the distance to an overhead obstruction. At step 1578,the clearance circuit 1520 displays, via the display 1540, a messagebased on the comparison to the operator. In some embodiments, theclearance circuit 1520 may alter or prevent operation of the liftassembly 40 based on the comparison. For example, the clearance circuit1520 may prevent the operator from contacting an overhead obstructionwith the lift assembly 40. In some embodiments, the clearance circuit1520 displays different colors to the operator based on a distance ofthe lift assembly 1520 relative to an overhead obstruction.

Referring now to FIG. 5, a process 1581 for determining a power profileof the refuse vehicle 10 is shown, according to an exemplary embodiment.It should be understood that while the process 1581 is described inreference to controlling the operation of the lift assembly 40, theprocess 1581 applies to controlling any other component of the refusevehicle 1581. Furthermore, although the process 1581 is described inreference to measuring an electrical current draw of the components ofthe lift assembly 40, it should be understood that the process 1581applies to measuring any other operational value of a component of arefuse vehicle.

At step 1580, the power conservation circuit 1530 receives a remainingpower measurement from sensors 1508 for a battery system of the refusevehicle 10. In some embodiments, the remaining power measurementcorresponds to the energy storage and/or generation system 20.Additionally or alternatively, the remaining power measurement maycorrespond to a different battery and/or power storage system. In someembodiments, step 1580 includes receiving an electrical current and/orvoltage measurement and calculating a remaining power measurement. Atstep 1582, the power conservation circuit 1530 receives a powerconsumption measurement from one or more actuators of the lift assembly40. In some embodiments, the power consumption measurement correspondsto an electrical motor or other device of the lift assembly 40. At step1584, the power conservation circuit 1530 calculates a required powerbased on the power consumption measurement. In some embodiments, thepower conservation circuit 1530 may determine a required power based onthe number of refuse receptacle that need to be collected and the powerrequired to collect each refuse receptacle. For example, the powerconservation circuit 1530 may utilize the refuse receptacle weightsstored by the weight circuit 1510. Additionally or alternatively, thepower conservation circuit 1530 may determine a required power based ona distance from the refuse vehicle 10 to a charging location and anamount of power required to move the refuse vehicle 10.

At step 1586, the power conservation circuit 1530 compares the requiredpower to the remaining power measurement. At step 1588, the powerconservation circuit 1530 controls the electric actuators of the liftassembly 40, via input/outputs 1506, to operate at a slower speed toconserve energy. In some embodiments, the power conservation circuit1530 prevents operation of the lift assembly 40. For example, if thepower conservation circuit 1530 determines the refuse vehicle 10 hasjust enough remaining power to return to a charging location, the powerconservation circuit 1530 may disable all non-essential functions of therefuse vehicle 10 to conserve power. Additionally or alternatively, thepower conservation circuit 1530 may display, via display 1540, a messageto the operator. For example, the power conservation circuit 1530 mayalert the operator to return the refuse vehicle 10 to a charginglocation immediately.

As utilized herein, the terms “approximately,” “about,” “substantially”,and similar terms are intended to have a broad meaning in harmony withthe common and accepted usage by those of ordinary skill in the art towhich the subject matter of this disclosure pertains. It should beunderstood by those of skill in the art who review this disclosure thatthese terms are intended to allow a description of certain featuresdescribed and claimed without restricting the scope of these features tothe precise numerical ranges provided. Accordingly, these terms shouldbe interpreted as indicating that insubstantial or inconsequentialmodifications or alterations of the subject matter described and claimedare considered to be within the scope of the disclosure as recited inthe appended claims.

It should be noted that the term “exemplary” and variations thereof, asused herein to describe various embodiments, are intended to indicatethat such embodiments are possible examples, representations, orillustrations of possible embodiments (and such terms are not intendedto connote that such embodiments are necessarily extraordinary orsuperlative examples).

The term “coupled” and variations thereof, as used herein, means thejoining of two members directly or indirectly to one another. Suchjoining may be stationary (e.g., permanent or fixed) or moveable (e.g.,removable or releasable). Such joining may be achieved with the twomembers coupled directly to each other, with the two members coupled toeach other using a separate intervening member and any additionalintermediate members coupled with one another, or with the two memberscoupled to each other using an intervening member that is integrallyformed as a single unitary body with one of the two members. If“coupled” or variations thereof are modified by an additional term(e.g., directly coupled), the generic definition of “coupled” providedabove is modified by the plain language meaning of the additional term(e.g., “directly coupled” means the joining of two members without anyseparate intervening member), resulting in a narrower definition thanthe generic definition of “coupled” provided above. Such coupling may bemechanical, electrical, or fluidic.

References herein to the positions of elements (e.g., “top,” “bottom,”“above,” “below”) are merely used to describe the orientation of variouselements in the FIGURES. It should be noted that the orientation ofvarious elements may differ according to other exemplary embodiments,and that such variations are intended to be encompassed by the presentdisclosure.

The hardware and data processing components used to implement thevarious processes, operations, illustrative logics, logical blocks,modules and circuits described in connection with the embodimentsdisclosed herein may be implemented or performed with a general purposesingle- or multi-chip processor, a digital signal processor (DSP), anapplication specific integrated circuit (ASIC), a field programmablegate array (FPGA), or other programmable logic device, discrete gate ortransistor logic, discrete hardware components, or any combinationthereof designed to perform the functions described herein. A generalpurpose processor may be a microprocessor, or, any conventionalprocessor, controller, microcontroller, or state machine. A processoralso may be implemented as a combination of computing devices, such as acombination of a DSP and a microprocessor, a plurality ofmicroprocessors, one or more microprocessors in conjunction with a DSPcore, or any other such configuration. In some embodiments, particularprocesses and methods may be performed by circuitry that is specific toa given function. The memory (e.g., memory, memory unit, storage device)may include one or more devices (e.g., RAM, ROM, Flash memory, hard diskstorage) for storing data and/or computer code for completing orfacilitating the various processes, layers and modules described in thepresent disclosure. The memory may be or include volatile memory ornon-volatile memory, and may include database components, object codecomponents, script components, or any other type of informationstructure for supporting the various activities and informationstructures described in the present disclosure. According to anexemplary embodiment, the memory is communicably connected to theprocessor via a processing circuit and includes computer code forexecuting (e.g., by the processing circuit or the processor) the one ormore processes described herein.

The present disclosure contemplates methods, systems and programproducts on any machine-readable media for accomplishing variousoperations. The embodiments of the present disclosure may be implementedusing existing computer processors, or by a special purpose computerprocessor for an appropriate system, incorporated for this or anotherpurpose, or by a hardwired system. Embodiments within the scope of thepresent disclosure include program products comprising machine-readablemedia for carrying or having machine-executable instructions or datastructures stored thereon. Such machine-readable media can be anyavailable media that can be accessed by a general purpose or specialpurpose computer or other machine with a processor. By way of example,such machine-readable media can comprise RAM, ROM, EPROM, EEPROM, orother optical disk storage, magnetic disk storage or other magneticstorage devices, or any other medium which can be used to carry or storedesired program code in the form of machine-executable instructions ordata structures and which can be accessed by a general purpose orspecial purpose computer or other machine with a processor. Combinationsof the above are also included within the scope of machine-readablemedia. Machine-executable instructions include, for example,instructions and data which cause a general purpose computer, specialpurpose computer, or special purpose processing machines to perform acertain function or group of functions.

Although the figures and description may illustrate a specific order ofmethod steps, the order of such steps may differ from what is depictedand described, unless specified differently above. Also, two or moresteps may be performed concurrently or with partial concurrence, unlessspecified differently above. Such variation may depend, for example, onthe software and hardware systems chosen and on designer choice. Allsuch variations are within the scope of the disclosure. Likewise,software implementations of the described methods could be accomplishedwith standard programming techniques with rule-based logic and otherlogic to accomplish the various connection steps, processing steps,comparison steps, and decision steps.

It is important to note that the construction and arrangement of therefuse vehicle 10 and the systems and components thereof as shown in thevarious exemplary embodiments is illustrative only. Additionally, anyelement disclosed in one embodiment may be incorporated or utilized withany other embodiment disclosed herein. Although only one example of anelement from one embodiment that can be incorporated or utilized inanother embodiment has been described above, it should be appreciatedthat other elements of the various embodiments may be incorporated orutilized with any of the other embodiments disclosed herein.

The invention claimed is:
 1. A refuse vehicle, comprising: a chassis; abody assembly coupled to the chassis, the body assembly defining arefuse compartment; an electric energy system configured to store powerand supply power to the refuse vehicle; and a power control systemconfigured to measure one or more electrical attributes of the refusevehicle and determine a power profile for the refuse vehicle, the powerprofile describing a length of time the refuse vehicle can continue tooperate based on a remaining power of the electrical energy system; andwherein the power control system terminates operation of a lift assemblyof the refuse vehicle based on the power profile.
 2. The refuse vehicleof claim 1, wherein the power control system determines an amount ofpower required to return the refuse vehicle to a charging location andperforms an operation using the remaining power and the amount of powerrequired to return the refuse vehicle to the charging location todetermine a result and alerts a user based on the result.
 3. The refusevehicle of claim 1, wherein the power control system is furtherconfigured to determine a weight of contents associated with the refusecompartment based on electrical attributes associated with the liftassembly.
 4. The refuse vehicle of claim 1, wherein determining thepower profile includes: moving a receptacle from a first position to asecond position; measuring a first electrical parameter associated withthe first movement; emptying the receptacle; moving the receptacle fromthe second position to the first position; and measuring a secondelectrical parameter associated with the second movement.
 5. The refusevehicle of claim 4, wherein determining the power profile furtherincludes calculating a weight associated with the receptacle based onthe first and second electrical parameters.
 6. The refuse vehicle ofclaim 1, wherein the power profile describes a distance that the refusevehicle can traverse based on the remaining power of the electricalenergy system.
 7. The refuse vehicle of claim 1, wherein the powercontrol system is configured to disable the lift assembly based on thepower profile.
 8. A power control system for a refuse vehicle,comprising: a processing circuit including a processor and memory, thememory having instructions stored thereon that, when executed by theprocessor, cause the processing circuit to: measure one or more firstelectrical parameters associated with an operation of the refusevehicle; measure one or more second electrical parameters associatedwith an energy storage system associated with the refuse vehicle;generate an operational parameter associated with an amount of powerrequired to perform the operation based on the one or more firstelectrical parameters and the one or more second electrical parameters;determine a power profile for the refuse vehicle, wherein the powerprofile describes a length of time the refuse vehicle can continue tooperate based on the operational parameter; and transmit a controlsignal to the refuse vehicle based on the power profile, wherein thecontrol signal causes termination of operation of a lift assembly of therefuse vehicle.
 9. The power control system of claim 8, wherein thepower control system is further configured to: measure an amount ofremaining power associated with the energy storage system; determine anamount of power required to return the refuse vehicle to a charginglocation; perform an operation using the remaining power and the amountof power required to return the refuse vehicle to the charging location;determine, based on the operation, a result; and alert a user based onthe result.
 10. The power control system of claim 9, wherein the powerprofile describes a distance that the refuse vehicle can traverse basedon the amount of remaining power associated with the energy storagesystem.
 11. The power control system of claim 8, wherein the powercontrol system is further configured to determine a weight of contentsassociated with a refuse compartment of the refuse vehicle based on theone or more first electrical parameters.
 12. The power control system ofclaim 8, wherein measuring the one or more first electrical parametersassociated with the operation of the refuse vehicle includes: moving areceptacle from a first position to a second position; measuring a firstelectrical parameter associated with the first movement; emptying thereceptacle; moving the receptacle from the first position to the secondposition; and measuring a second electrical parameter associated withthe second movement.
 13. The power control system of claim 12, whereingenerating the operational parameter includes calculating a weightassociated with the receptacle based on the first and second electricalparameters.
 14. The power control system of claim 13, wherein the powercontrol system is configured to disable a lift assembly of the refusevehicle based on the power profile.
 15. The power control system ofclaim 8, wherein the power control system is further configured tomonitor a power consumption of the refuse vehicle and cause the energystorage system to store an amount of energy required to unload therefuse vehicle.
 16. The power control system of claim 8, wherein thepower control system is further configured to transmit the power profileto an external fleet management system.
 17. A method of determining apower profile for a refuse vehicle, comprising: moving a receptacle froma first position to a second position; measuring a first electricalparameter associated with the first movement; emptying the receptacle;moving the receptacle from the second position to the first position;measuring a second electrical parameter associated with the secondmovement; measuring an amount of remaining power associated with anenergy storage system of the refuse vehicle; generating a power profiledescribing an amount of time the refuse vehicle can continue to operatebased on the amount of remaining power and the first and secondelectrical parameters; and terminating operation of a lift assembly ofthe refuse vehicle based on the power profile.
 18. The method of claim17, wherein the power profile further describes a distance that therefuse vehicle can traverse based on the amount of remaining power. 19.The method of claim 17, wherein the method includes controlling anoperation of the refuse vehicle based on the power profile.
 20. Themethod of claim 17, wherein the power profile is further generated basedon one or more physical parameters associated with the refuse vehicle.